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Y-shaped robot

A robot and small-scale technology, applied in the field of Y-type robots, can solve problems such as complex structure, weak suction cup adsorption, heavy weight, etc.

Active Publication Date: 2018-10-19
ANHUI BUSINESS COLLEGE +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Manual work generally requires scaffolding, which is very time-consuming and labor-intensive, and there are also great risks
The structure of the mobile robot in the prior art is relatively complicated, and the magnetic walking mechanism adopted is mostly a single-magnet structure. When walking on a curved or uneven surface, the suction cup is often not firmly adsorbed. Although the crawler-type walking vehicle can solve the problem of weak adsorption of the suction cup, the structure of the crawler is more complicated and the weight is heavier

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] as attached Figure 1-2 As shown, a Y-shaped robot that can move freely on a vertical surface includes a main body frame 1, a telescopic arm 2, a suction cup 3, a high-speed stepping motor 4, a screw 5, a controller 6, an energy storage device 7, a working The device 8 is characterized in that: the main body frame 1 is a regular hexagonal structure, and three telescopic arms 2 are evenly arranged and installed around the side of the regular hexagonal main body frame 1, in a Y-shaped structure; one end of each telescopic arm 2 It is connected with the main frame 1 by sliding telescopically through guide rails, and the other end of each telescopic arm 2 is axially connected with a suction cup 3 through the extension shaft 2-1, and the suction cup 3 is located below the other end of each telescopic arm 2; the main frame 1 is empty Cavity or frame structure, three high-speed stepping motors 4 are installed in a Y-shaped arrangement inside, each high-speed stepping motor 4 c...

Embodiment 2

[0031] as attached Figure 1-2, 4-6, on the basis of the Y-type robot in Embodiment 1, in this embodiment, the surface in contact with the sucker is made of magnetic or magnetizable material, and the sucker 3 is an electromagnetic chuck, which includes a coupling 3-1, suction cup shaft 3-2, flexible inclusion body 3-3, linkage mechanism 3-4, small electromagnetic coil 3-5, elastic hinge part 3-6; the suction cup 3 is connected and stretched through the upper part of the coupling 3-1 The extension shaft 2-1 of the arm 2; the extension shaft 2-1 is rotationally connected with the telescopic arm 2 through a bearing; the upper part of the suction cup shaft 3-2 is movably connected with the lower part of the coupling 3-1, and the coupling 3-1 is elastic A shaft coupling or a universal joint or a combination thereof; the bottom of the suction cup shaft 3-2 is connected with a plurality of linkage mechanisms 3-4, and one end of each linkage mechanism 3-4 is elastically hinged with th...

Embodiment 3

[0034] refer to figure 1 , 3 , on the basis of the Y-type robot in Embodiments 1 and 2, a small booster 9 is added on each telescopic arm 2, and the power output shaft of the small booster 9 passes through the gap between the telescopic arm 2 and the suction cup 3. The coupling 3-1 is fixedly connected in transmission, so that the small booster device 9 can drive the telescopic arm 2 and the suction cup 3 to rotate relative to each other.

[0035] Its working principle is that if the rotation power is insufficient during the rotation of the Y-shaped robot, the controller 6 controls the small power booster 9 connected to the suction cup 3 adsorbed on the vertical surface to start running to provide auxiliary power for rotation and drive The Y-type robot rotates, and when the vertical surface of the suction cup 3 rotates with the Y-type robot, the controller 6 controls the small booster 9 connected to the suction cup 3 to drive the suction cup 3 to reverse, and the rotation ang...

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PUM

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Abstract

The invention relates to a Y-shaped robot which is capable of moving on vertical surfaces of devices or large buildings such as a building. The Y-shaped robot comprises a main frame, telescopic arms,suction cups, high-speed stepping motors and screws, wherein the main frame is of a regular hexagonal structure; the three telescopic arms are mounted uniformly around the sides of the regular hexagonal main frame to form a Y-shaped structure; one end of each telescopic arm is slidably and telescopically connected to the main frame through a corresponding guide rail; the other end of each telescopic arm is in shaft connection with the corresponding suction cup through a corresponding protruding shaft; the three high-speed stepping motors are mounted inside the main frame in a Y-shaped arrangement; each high-speed stepping motor corresponds to the corresponding telescopic arm; the output shaft of each high-speed stepping motor is connected to one end of the corresponding screw; the other end of each screw is in threaded and transmission connection with the corresponding telescopic arm; and the high-speed stepping motors drive the screws to rotate forward and backward so as to drive thetelescopic arms to extend outward or retract into the main frame. The Y-shaped robot is simple in structure and ingenious in design, and can be used on the uneven vertical surfaces without the need for tracks.

Description

technical field [0001] The invention relates to a Y-shaped robot that can move freely on the vertical surfaces of large buildings or devices such as buildings. Background technique [0002] In production and life, it is often necessary for some operating devices to perform mobile operations on the outer surface of buildings, large hull surfaces, large tank surfaces, large box surfaces, large steel frame structures, large silo surfaces, and large furnace surfaces. Such as cleaning, transporting, painting, rapping, etc. Manual work generally requires scaffolding to work, which is very time-consuming and labor-intensive, and there are also great risks. The structure of the mobile robot in the prior art is relatively complicated, and the magnetic walking mechanism adopted is mostly a single-magnet structure. When walking on a curved or uneven surface, the suction cup is often not firmly adsorbed. Although the crawler-type walking vehicle can solve the problem of weak suction c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 李路吕立新贺中跃
Owner ANHUI BUSINESS COLLEGE